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<a href="voe__handler_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *  $Id: voe_handler.h,v 11c0b2caa253 2009/02/24 12:51:39 fp $</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  This file is part of the IgH EtherCAT Master.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is free software; you can redistribute it and/or</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modify it under the terms of the GNU General Public License version 2, as</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  published by the Free Software Foundation.</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  Public License for more details.</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *  You should have received a copy of the GNU General Public License along</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *  with the IgH EtherCAT Master; if not, write to the Free Software</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  ---</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  The license mentioned above concerns the source code only. Using the</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  EtherCAT technology and brand is only permitted in compliance with the</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  industrial property and similar rights of Beckhoff Automation GmbH.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef __EC_VOE_HANDLER_H__</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define __EC_VOE_HANDLER_H__</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;linux/list.h&gt;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="globals_8h.html">globals.h</a>&quot;</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="datagram_8h.html">datagram.h</a>&quot;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structec__voe__handler.html">   49</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structec__voe__handler.html">ec_voe_handler</a> {</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structec__voe__handler.html#ab078e6fbc73c7bb4f7cb465b6c4abfa3">   50</a></span>&#160;    <span class="keyword">struct </span>list_head <a class="code" href="structec__voe__handler.html#ab078e6fbc73c7bb4f7cb465b6c4abfa3">list</a>; </div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structec__voe__handler.html#a0d54cd53df6b6aa0d3f5d0bdd4d61686">   51</a></span>&#160;    <a class="code" href="structec__slave__config.html">ec_slave_config_t</a> *<a class="code" href="structec__voe__handler.html#a0d54cd53df6b6aa0d3f5d0bdd4d61686">config</a>; </div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structec__voe__handler.html#a22dc8e8a089f2a9df8336828d4ddcbe6">   52</a></span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> <a class="code" href="structec__voe__handler.html#a22dc8e8a089f2a9df8336828d4ddcbe6">datagram</a>; </div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structec__voe__handler.html#a2c8f52c786041ad0600c3d3b84db48e7">   53</a></span>&#160;    uint32_t <a class="code" href="structec__voe__handler.html#a2c8f52c786041ad0600c3d3b84db48e7">vendor_id</a>; </div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structec__voe__handler.html#aa0f8674c035659f9f2850045ed641139">   54</a></span>&#160;    uint16_t <a class="code" href="structec__voe__handler.html#aa0f8674c035659f9f2850045ed641139">vendor_type</a>; </div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structec__voe__handler.html#a8f7609a3c03d2eab155ea2d24c4353e2">   55</a></span>&#160;    <span class="keywordtype">size_t</span> <a class="code" href="structec__voe__handler.html#a8f7609a3c03d2eab155ea2d24c4353e2">data_size</a>; </div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structec__voe__handler.html#a4930b843f8706117298fd50362514117">   56</a></span>&#160;    <a class="code" href="group__ApplicationInterface.html#ga703c4e47384b3601e7605d6d910aaba1">ec_direction_t</a> <a class="code" href="structec__voe__handler.html#a4930b843f8706117298fd50362514117">dir</a>; </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structec__voe__handler.html#a214b9c6c45ae1d97da28b33f48fc9625">   59</a></span>&#160;    void (*<a class="code" href="structec__voe__handler.html#a214b9c6c45ae1d97da28b33f48fc9625">state</a>)(<a class="code" href="structec__voe__handler.html">ec_voe_handler_t</a> *); </div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structec__voe__handler.html#a08b2653c2e110c29f17b28dce2094c69">   60</a></span>&#160;    <a class="code" href="globals_8h.html#af8e216ffa0b8f5e3ee20edd4c17d6174">ec_internal_request_state_t</a> <a class="code" href="structec__voe__handler.html#a08b2653c2e110c29f17b28dce2094c69">request_state</a>; </div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structec__voe__handler.html#a94b591afc9239d7da95ce47108211048">   61</a></span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structec__voe__handler.html#a94b591afc9239d7da95ce47108211048">retries</a>; </div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structec__voe__handler.html#a394c2e7f86802ae0c78a1d7f5a762cc5">   62</a></span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="structec__voe__handler.html#a394c2e7f86802ae0c78a1d7f5a762cc5">jiffies_start</a>; </div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;};</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="keywordtype">int</span> <a class="code" href="voe__handler_8h.html#a721e07aa3628cde894d343f4bb9be382">ec_voe_handler_init</a>(<a class="code" href="structec__voe__handler.html">ec_voe_handler_t</a> *, <a class="code" href="structec__slave__config.html">ec_slave_config_t</a> *, <span class="keywordtype">size_t</span>);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keywordtype">void</span> <a class="code" href="voe__handler_8h.html#a59baf69eb0203dbf1acf7f5e390e849a">ec_voe_handler_clear</a>(<a class="code" href="structec__voe__handler.html">ec_voe_handler_t</a> *);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keywordtype">size_t</span> <a class="code" href="voe__handler_8h.html#a51ae52f9360172b1d8937ea62cf157aa">ec_voe_handler_mem_size</a>(<span class="keyword">const</span> <a class="code" href="structec__voe__handler.html">ec_voe_handler_t</a> *);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="voe__handler_8h_html_a721e07aa3628cde894d343f4bb9be382"><div class="ttname"><a href="voe__handler_8h.html#a721e07aa3628cde894d343f4bb9be382">ec_voe_handler_init</a></div><div class="ttdeci">int ec_voe_handler_init(ec_voe_handler_t *, ec_slave_config_t *, size_t)</div><div class="ttdoc">VoE handler constructor. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8c_source.html#l00076">voe_handler.c:76</a></div></div>
<div class="ttc" id="structec__voe__handler_html_a22dc8e8a089f2a9df8336828d4ddcbe6"><div class="ttname"><a href="structec__voe__handler.html#a22dc8e8a089f2a9df8336828d4ddcbe6">ec_voe_handler::datagram</a></div><div class="ttdeci">ec_datagram_t datagram</div><div class="ttdoc">State machine datagram. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8h_source.html#l00052">voe_handler.h:52</a></div></div>
<div class="ttc" id="structec__datagram__t_html"><div class="ttname"><a href="structec__datagram__t.html">ec_datagram_t</a></div><div class="ttdoc">EtherCAT datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00087">datagram.h:87</a></div></div>
<div class="ttc" id="structec__voe__handler_html_aa0f8674c035659f9f2850045ed641139"><div class="ttname"><a href="structec__voe__handler.html#aa0f8674c035659f9f2850045ed641139">ec_voe_handler::vendor_type</a></div><div class="ttdeci">uint16_t vendor_type</div><div class="ttdoc">Vendor type for the header. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8h_source.html#l00054">voe_handler.h:54</a></div></div>
<div class="ttc" id="structec__voe__handler_html_ab078e6fbc73c7bb4f7cb465b6c4abfa3"><div class="ttname"><a href="structec__voe__handler.html#ab078e6fbc73c7bb4f7cb465b6c4abfa3">ec_voe_handler::list</a></div><div class="ttdeci">struct list_head list</div><div class="ttdoc">List item. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8h_source.html#l00050">voe_handler.h:50</a></div></div>
<div class="ttc" id="globals_8h_html"><div class="ttname"><a href="globals_8h.html">globals.h</a></div><div class="ttdoc">Global definitions and macros. </div></div>
<div class="ttc" id="structec__voe__handler_html_a2c8f52c786041ad0600c3d3b84db48e7"><div class="ttname"><a href="structec__voe__handler.html#a2c8f52c786041ad0600c3d3b84db48e7">ec_voe_handler::vendor_id</a></div><div class="ttdeci">uint32_t vendor_id</div><div class="ttdoc">Vendor ID for the header. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8h_source.html#l00053">voe_handler.h:53</a></div></div>
<div class="ttc" id="globals_8h_html_af8e216ffa0b8f5e3ee20edd4c17d6174"><div class="ttname"><a href="globals_8h.html#af8e216ffa0b8f5e3ee20edd4c17d6174">ec_internal_request_state_t</a></div><div class="ttdeci">ec_internal_request_state_t</div><div class="ttdoc">Generic request state. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00290">globals.h:290</a></div></div>
<div class="ttc" id="structec__voe__handler_html_a214b9c6c45ae1d97da28b33f48fc9625"><div class="ttname"><a href="structec__voe__handler.html#a214b9c6c45ae1d97da28b33f48fc9625">ec_voe_handler::state</a></div><div class="ttdeci">void(* state)(ec_voe_handler_t *)</div><div class="ttdoc">State function. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8h_source.html#l00059">voe_handler.h:59</a></div></div>
<div class="ttc" id="structec__voe__handler_html_a08b2653c2e110c29f17b28dce2094c69"><div class="ttname"><a href="structec__voe__handler.html#a08b2653c2e110c29f17b28dce2094c69">ec_voe_handler::request_state</a></div><div class="ttdeci">ec_internal_request_state_t request_state</div><div class="ttdoc">Handler state. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8h_source.html#l00060">voe_handler.h:60</a></div></div>
<div class="ttc" id="structec__voe__handler_html_a8f7609a3c03d2eab155ea2d24c4353e2"><div class="ttname"><a href="structec__voe__handler.html#a8f7609a3c03d2eab155ea2d24c4353e2">ec_voe_handler::data_size</a></div><div class="ttdeci">size_t data_size</div><div class="ttdoc">Size of VoE data. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8h_source.html#l00055">voe_handler.h:55</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_ga703c4e47384b3601e7605d6d910aaba1"><div class="ttname"><a href="group__ApplicationInterface.html#ga703c4e47384b3601e7605d6d910aaba1">ec_direction_t</a></div><div class="ttdeci">ec_direction_t</div><div class="ttdoc">Direction type for PDO assignment functions. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l00417">ecrt.h:417</a></div></div>
<div class="ttc" id="structec__voe__handler_html_a394c2e7f86802ae0c78a1d7f5a762cc5"><div class="ttname"><a href="structec__voe__handler.html#a394c2e7f86802ae0c78a1d7f5a762cc5">ec_voe_handler::jiffies_start</a></div><div class="ttdeci">unsigned long jiffies_start</div><div class="ttdoc">Timestamp for timeout calculation. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8h_source.html#l00062">voe_handler.h:62</a></div></div>
<div class="ttc" id="structec__voe__handler_html"><div class="ttname"><a href="structec__voe__handler.html">ec_voe_handler</a></div><div class="ttdoc">Vendor specific over EtherCAT handler. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8h_source.html#l00049">voe_handler.h:49</a></div></div>
<div class="ttc" id="voe__handler_8h_html_a51ae52f9360172b1d8937ea62cf157aa"><div class="ttname"><a href="voe__handler_8h.html#a51ae52f9360172b1d8937ea62cf157aa">ec_voe_handler_mem_size</a></div><div class="ttdeci">size_t ec_voe_handler_mem_size(const ec_voe_handler_t *)</div><div class="ttdoc">Get usable memory size. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8c_source.html#l00112">voe_handler.c:112</a></div></div>
<div class="ttc" id="datagram_8h_html"><div class="ttname"><a href="datagram_8h.html">datagram.h</a></div><div class="ttdoc">EtherCAT datagram structure. </div></div>
<div class="ttc" id="structec__voe__handler_html_a94b591afc9239d7da95ce47108211048"><div class="ttname"><a href="structec__voe__handler.html#a94b591afc9239d7da95ce47108211048">ec_voe_handler::retries</a></div><div class="ttdeci">unsigned int retries</div><div class="ttdoc">retries upon datagram timeout </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8h_source.html#l00061">voe_handler.h:61</a></div></div>
<div class="ttc" id="structec__voe__handler_html_a4930b843f8706117298fd50362514117"><div class="ttname"><a href="structec__voe__handler.html#a4930b843f8706117298fd50362514117">ec_voe_handler::dir</a></div><div class="ttdeci">ec_direction_t dir</div><div class="ttdoc">Direction. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8h_source.html#l00056">voe_handler.h:56</a></div></div>
<div class="ttc" id="voe__handler_8h_html_a59baf69eb0203dbf1acf7f5e390e849a"><div class="ttname"><a href="voe__handler_8h.html#a59baf69eb0203dbf1acf7f5e390e849a">ec_voe_handler_clear</a></div><div class="ttdeci">void ec_voe_handler_clear(ec_voe_handler_t *)</div><div class="ttdoc">VoE handler destructor. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8c_source.html#l00099">voe_handler.c:99</a></div></div>
<div class="ttc" id="structec__slave__config_html"><div class="ttname"><a href="structec__slave__config.html">ec_slave_config</a></div><div class="ttdoc">EtherCAT slave configuration. </div><div class="ttdef"><b>Definition:</b> <a href="slave__config_8h_source.html#l00118">slave_config.h:118</a></div></div>
<div class="ttc" id="structec__voe__handler_html_a0d54cd53df6b6aa0d3f5d0bdd4d61686"><div class="ttname"><a href="structec__voe__handler.html#a0d54cd53df6b6aa0d3f5d0bdd4d61686">ec_voe_handler::config</a></div><div class="ttdeci">ec_slave_config_t * config</div><div class="ttdoc">Parent slave configuration. </div><div class="ttdef"><b>Definition:</b> <a href="voe__handler_8h_source.html#l00051">voe_handler.h:51</a></div></div>
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